System and Method for Detection of Anomalies in the Tracks on a Three-Dimensional Storage System

This application claims the benefit under 35 U.S. C. § 120 as a continuation of application No. Ser. No. 18/007,380, filed Jan. 30, 2023, which claims the benefit as a National Stage Entry of PCT application No. PCT/EP2021/072360 filed Aug. 11, 2021, under 35 U.S. C. 371, which claims the benefit of Norwegian application 20200896, filed Aug. 12, 2020, the entire contents of which are hereby incorporated by reference for all purposes as if fully set forth herein. The Applicant hereby rescinds any disclaimer of claim scope occurring in any priority application and advises the USPTO that the claims of this application may be broader than in any priority application.

The present invention regards a system and a method for condition-based monitoring of an automated storage and retrieval system, and more particularly a system and a method for condition-based monitoring of an automated storage and retrieval system for detecting anomalies in the three-dimensional storage system.

1 FIG. 2 3 FIGS.and 1 100 201 301 1 discloses a typical prior art automated storage and retrieval systemwith a framework structureanddisclose two different prior art container handling vehicles,suitable for operating on such a system.

100 102 103 105 102 103 105 106 107 102 103 The framework structurecomprises upright members, horizontal membersand a storage volume comprising storage columnsarranged in rows between the upright membersand the horizontal members. In these storage columnsstorage containers, also known as bins, are stacked one on top of one another to form stacks. The members,may typically be made of metal, e.g. extruded aluminium profiles.

100 1 108 100 108 201 301 106 106 105 106 105 108 110 201 301 100 111 110 201 301 106 105 112 108 201 301 105 The framework structureof the automated storage and retrieval systemcomprises a rail systemarranged across the top of framework structure, on which rail systema plurality of container handling vehicles,are operated to raise storage containersfrom, and lower storage containersinto, the storage columns, and also to transport the storage containersabove the storage columns. The rail systemcomprises a first set of parallel railsarranged to guide movement of the container handling vehicles,in a first direction X across the top of the frame structure, and a second set of parallel railsarranged perpendicular to the first set of railsto guide movement of the container handling vehicles,in a second direction Y which is perpendicular to the first direction X. Containersstored in the columnsare accessed by the container handling vehicles through access openingsin the rail system. The container handling vehicles,can move laterally above the storage columns, i.e. in a plane which is parallel to the horizontal X-Y plane.

102 100 105 107 106 The upright membersof the framework structuremay be used to guide the storage containers during raising of the containers out from and lowering of the containers into the columns. The stacksof containersare typically self-supportive.

201 301 201 301 201 301 201 301 201 301 201 301 110 201 301 111 201 301 201 301 201 301 201 301 110 111 a a b b c c b b c c b b c c b b c c 2 3 FIGS.and Each prior art container handling vehicle,comprises a vehicle body,, and first and second sets of wheels,,,which enable the lateral movement of the container handling vehicles,in the X direction and in the Y direction, respectively. Intwo wheels in each set are fully visible. The first set of wheels,is arranged to engage with two adjacent rails of the first setof rails, and the second set of wheels,is arranged to engage with two adjacent rails of the second setof rails. At least one of the sets of wheels,,,can be lifted and lowered, so that the first set of wheels,and/or the second set of wheels,can be engaged with the respective set of rails,at any one time.

201 301 106 106 106 105 106 201 301 201 301 301 304 201 301 3 FIG. 2 FIG. a Each prior art container handling vehicle,also comprises a lifting device (not shown) for vertical transportation of storage containers, e.g. raising a storage containerfrom, and lowering a storage containerinto, a storage column. The lifting device comprises one or more gripping/engaging devices which are adapted to engage a storage container, and which gripping/engaging devices can be lowered from the vehicle,so that the position of the gripping/ engaging devices with respect to the vehicle,can be adjusted in a third direction Z which is orthogonal the first direction X and the second direction Y. Parts of the gripping device of the container handling vehicleare shown inindicated with reference number. The gripping device of the container handling deviceis located within the vehicle bodyin.

108 108 105 106 201 301 105 1 FIG. 1 FIG. 1 FIG. Conventionally, and also for the purpose of this application, Z=1 identifies the uppermost layer of storage containers, i.e. the layer immediately below the rail system, Z=2 the second layer below the rail system, Z=3 the third layer etc. In the exemplary prior art disclosed in, Z=8 identifies the lowermost, bottom layer of storage containers. Similarly, X=1 . . . n and Y=1 . . . n identifies the position of each storage columnin the horizontal plane. Consequently, as an example, and using the Cartesian coordinate system X, Y, Z indicated in, the storage container identified as′ incan be said to occupy storage position X=10, Y=2, Z=3. The container handling vehicles,can be said to travel in layer Z=0, and each storage columncan be identified by its X and Y coordinates.

100 104 The storage volume of the framework structurehas often been referred to as a grid, where the possible storage positions within this grid are referred to as storage cells. Each storage column may be identified by a position in an X- and Y-direction, while each storage cell may be identified by a container number in the X-, Y and Z-direction.

201 301 106 106 108 201 a 2 FIG. Each prior art container handling vehicle,comprises a storage compartment or space for receiving and stowing a storage containerwhen transporting the storage containeracross the rail system. The storage space may comprise a cavity arranged centrally within the vehicle bodyas shown inand as described in e.g. WO2015/193278A1, the contents of which are incorporated herein by reference.

3 FIG. 301 shows an alternative configuration of a container handling vehiclewith a cantilever construction. Such a vehicle is described in detail in e.g. NO317366, the contents of which are also incorporated herein by reference.

201 105 2 FIG. The central cavity container handling vehiclesshown inmay have a footprint that covers an area with dimensions in the X and Y directions which is generally equal to the lateral extent of a storage column, e.g. as is described in WO2015/193278A1, the contents of which are incorporated herein by reference. The term ‘lateral’ used herein may mean ‘horizontal’.

105 Alternatively, the central cavity container handling vehicles may have a footprint which is larger than the lateral area defined by a storage column, e.g. as is disclosed in WO2014/090684A1.

108 The rail systemtypically comprises rails with grooves in which the wheels of the vehicles run. Alternatively, the rails may comprise upwardly protruding elements, where the wheels of the vehicles comprise flanges to prevent derailing. These grooves and upwardly protruding elements are collectively known as tracks. Each rail may comprise one track, or each rail may comprise two parallel tracks.

108 WO2018146304, the contents of which are incorporated herein by reference, illustrates a typical configuration of rail systemcomprising rails and parallel tracks in both X and Y directions.

100 105 105 105 106 107 105 119 120 201 301 106 106 100 100 119 120 106 105 100 119 120 106 1 FIG. In the framework structure, a majority of the columnsare storage columns, i.e. columnswhere storage containersare stored in stacks. However, some columnsmay have other purposes. In, columnsandare such special-purpose columns used by the container handling vehicles,to drop off and/or pick up storage containersso that they can be transported to an access station (not shown) where the storage containerscan be accessed from outside of the framework structureor transferred out of or into the framework structure. Within the art, such a location is normally referred to as a ‘port’ and the column in which the port is located may be referred to as a ‘port column’,. The transportation to the access station may be in any direction, that is horizontal, tilted and/or vertical. For example, the storage containersmay be placed in a random or dedicated columnwithin the framework structure, then picked up by any container handling vehicle and transported to a port column,for further transportation to an access station. Note that the term ‘tilted’ means transportation of storage containershaving a general transportation orientation somewhere between horizontal and vertical.

1 FIG. 119 201 301 106 120 201 301 106 In, the first port columnmay for example be a dedicated drop-off port column where the container handling vehicles,can drop off storage containersto be transported to an access or a transfer station, and the second port columnmay be a dedicated pick-up port column where the container handling vehicles,can pick up storage containersthat have been transported from an access or a transfer station.

106 106 1 100 The access station may typically be a picking or a stocking station where product items are removed from or positioned into the storage containers. In a picking or a stocking station, the storage containersare normally not removed from the automated storage and retrieval systembut are returned into the framework structureagain once accessed. A port can also be used for transferring storage containers to another storage facility (e.g. to another framework structure or to another automated storage and retrieval system), to a transport vehicle (e.g. a train or a lorry), or to a production facility.

119 120 A conveyor system comprising conveyors is normally employed to transport the storage containers between the port columns,and the access station.

119 120 106 If the port columns,and the access station are located at different levels, the conveyor system may comprise a lift device with a vertical component for transporting the storage containersvertically between the port column 119,120 and the access station.

106 The conveyor system may be arranged to transfer storage containersbetween different framework structures, e.g. as is described in WO2014/075937A1, the contents of which are incorporated herein by reference.

106 105 201 301 106 119 201 301 105 106 106 105 201 301 106 119 106 107 106 106 106 105 119 1 201 301 106 105 106 105 106 105 106 105 1 FIG. When a storage containerstored in one of the columnsdisclosed inis to be accessed, one of the container handling vehicles,is instructed to retrieve the target storage containerfrom its position and transport it to the drop-off port column. This operation involves moving the container handling vehicle,to a location above the storage columnin which the target storage containeris positioned, retrieving the storage containerfrom the storage columnusing the container handling vehicle's,lifting device (not shown), and transporting the storage containerto the drop-off port column. If the target storage containeris located deep within a stack, i.e. with one or a plurality of other storage containerspositioned above the target storage container, the operation also involves temporarily moving the above-positioned storage containers prior to lifting the target storage containerfrom the storage column. This step, which is sometimes referred to as “digging” within the art, may be performed with the same container handling vehicle that is subsequently used for transporting the target storage container to the drop-off port column, or with one or a plurality of other cooperating container handling vehicles. Alternatively, or in addition, the automated storage and retrieval systemmay have container handling vehicles,specifically dedicated to the task of temporarily removing storage containersfrom a storage column. Once the target storage containerhas been removed from the storage column, the temporarily removed storage containerscan be repositioned into the original storage column. However, the removed storage containersmay alternatively be relocated to other storage columns.

106 105 201 301 106 120 105 106 107 201 301 106 106 105 105 When a storage containeris to be stored in one of the columns, one of the container handling vehicles,is instructed to pick up the storage containerfrom the pick-up port columnand transport it to a location above the storage columnwhere it is to be stored. After any storage containerspositioned at or above the target position within the stackhave been removed, the container handling vehicle,positions the storage containerat the desired position. The removed storage containersmay then be lowered back into the storage columnor relocated to other storage columns.

1 106 100 106 201 301 106 201 301 1 500 106 For monitoring and controlling the automated storage and retrieval system, e.g. monitoring and controlling the location of respective storage containerswithin the framework structure, the content of each storage container; and the movement of the container handling vehicles,so that a desired storage containercan be delivered to the desired location at the desired time without the container handling vehicles,colliding with each other, the automated storage and retrieval systemcomprises a control systemwhich typically is computerized and which typically comprises a database for keeping track of the storage containers.

A problem with the storage grid is that over time dust and dirt will collect in the tracks the container handling vehicle is traveling on. This can damage the vehicle and lead to unnecessary cost and risk. Further, the tracks and even the framework of the underlying storage unit can experience wear and tear over time. As it is now there is no way of surveilling possible faults. A robot would have to stop due to an error over the problem area in order for the problem to be detected. This is a costly and time-consuming way of dealing with the problem.

Another problem with the present situation is that it is no easy way of checking the feet of the storage facility. If there is an alignment problem in a column it can lead to the gripper with or without a container will collide with the column on the way up or down and this will over time cause damage to the equipment. This requires shut down of the storage facility which again is costly and time-consuming.

The present invention is set forth and characterized in the independent claims, while the dependent claims describe other characteristics of the invention.

In one aspect, the invention is related to a system for condition-based monitoring of an automated storage and retrieval system comprising a framework structure forming a three-dimensional storage grid structure for storing storage containers for storing items, where the grid structure forms vertical storage columns each having a horizontal area defined by the size of an access opening of the vertical storage columns and where the framework structure comprises a rail system arranged above the storage columns, the rail system comprising a plurality of rails extending in an X-direction and a Y-direction to form a grid, the rails defining a perimeter of each access opening on top of each storage column, the rail system providing available routes in the X-direction or the Y-direction for container handling vehicles handling and transferring the storage containers to and from the storage columns, wherein that at least one container handling vehicle has two or more sensors, directed to monitor a section of the rails adjacent of the container handling vehicle, and that the sensors is part of a monitoring system set up to report a condition of the rails of the grid system and uploading the information to one or all of a central computer system, a cloud system and/or an image analysis and processing system and wherein the two or more sensors are at least one camera and a pendulum and/or a level, and/or an accelerometer and/or a sound detecting device.

Further, the at least one sensor can be a camera mounted on the side of the container handling vehicle in the travelling directions of the container handling vehicle such that it is pointing to observe an area of the rail system which is at a level below a height of the at least one camera on the container handling vehicle.

Also, the container handling vehicle can have a camera on all sides of the container handling vehicle such that it is pointing to observe an area of the rail system which is at a level below a height of the at least one camera on the container handling vehicle.

Also, the central computer system, cloud storage and/or image analysis and processing system can be configured to process the information gathered by the at least one sensor.

The at least one camera on each side of the container handling vehicle in the travelling directions of the container handling vehicle can be pointed at an angle of between 0°-89° pointing downwards from a horizontal level.

The at least one camera of the container handling vehicle is mounted on top of the container handling vehicle can be pointed at an angle of between 0°-89° pointing downwards from a horizontal.

The at least one sensor can be in the form of a pendulum and/or a level, and/or an accelerometer and/or a sound detecting device.

The at least one sensor can be mounted on a lifting platform of the container handling vehicle.

There can be at least one sensor connected to each of the wheels on the container handling vehicle.

The at least one sensor can be an accelerometer detecting if the wheels are spinning.

The container handling vehicle can have a sensor for monitoring the tilt and movement of the vehicle.

The at least one sensor can be a sound detecting device on the lifting platform to detect if the container handling vehicle hits an obstacle in a cell during lifting and lowering of containers into a cell of the storage system.

At least one camera can be mounted on the lifting platform of the container handling vehicle.

100 104 106 104 105 112 105 108 105 112 105 108 201 106 105 In a second aspect, the invention concerns a method for condition-based maintenance of an automated storage and retrieval system comprising a framework structure () forming a three-dimensional storage grid structure () for storing storage containers () for storing items, where the grid structure () forms vertical storage columns () each having a horizontal area defined by the size of an access opening () of the vertical storage columns () and where the framework structure comprises a rail system () arranged on the storage columns (), the rail system comprising a plurality of rails extending in an X-direction and a Y-direction to form a grid, the rails defining a perimeter of each access opening () on top of each storage column (), the rail system () providing available routes for container handling vehicles () handling and transferring the storage containers () in the X-direction and the Y-direction to and from the storage columns (), wherein the method comprises the following steps moving a container handling vehicle from one vertical storage column to another vertical storage column in the storage grid, taking an image of an area of the rails, the area including vertical storage columns, using a pendulum and/or a level, and/or an accelerometer and/or a sound detecting device connected to the container handling vehicle to gather additional information regarding rails on the grid, uploading the image to one or all of a central computer system a cloud system and/or an image analysis and processing system, detecting anomalies in the tracks on the grid, a central computer system a cloud system and/or an image analysis and processing system issuing recommendations where to service and/or clean the storage grid based on the analysis of the storage system.

Wherein taking an image can comprise taking an image straight downwards along the sides of the vehicle when the container handling vehicle is stationary above a vertical storage column.

Taking an image can comprise taking an image of the storage grid on each side of the container handling vehicle when the container handling vehicle is stationary above a vertical storage column.

Taking an image can comprise using a camera mounted at an angle of between 0°-89° pointing downwards from a horizontal.

Detecting anomalies in the tracks on the grid can comprise using machine learning to analyse the uploaded images.

Taking an image can comprise using at least one additional camera mounted on the lifting platform of the container handling vehicle.

Also detecting anomalies in the tracks on the grid using machine learning to analyse the uploaded images, including using at least one additional camera mounted on the lifting platform of the container handling vehicle.

Using the present invention as stated in the set of claims solves the problems mentioned above.

In the following, embodiments of the invention will be discussed in more detail with reference to the appended drawings. It should be understood, however, that the drawings are not intended to limit the invention to the subject-matter depicted in the drawings.

According to a preferred embodiment of the present invention the monitoring of the condition of the storage and retrieval system can be accomplished by at least one container handling vehicle traveling from column to column and performing measurements.

In an alternative embodiment of the present invention the container handling vehicles operating on the storage and retrieval system can monitor the conditions of the storage and retrieval system while working.

In yet another embodiment of the present invention, at least one container handling vehicle can travel from column to column and perform measurements at fixed intervals to detect loose framework or destroyed grid feet or any other measurements that cannot be done during normal operations. Checking for dust, dirt or debris in the tracks on the storage and retrieval system that can be done by a container handling vehicle during ordinary operations.

100 1 100 102 103 102 100 108 1 FIG. The framework structureof the automated storage and retrieval systemis constructed in accordance with the prior art framework structuredescribed above in connection with, i.e. a number of upright membersand a number of horizontal members, which are supported by the upright members, and further that the framework structurecomprises a first, upper rail systemin the X direction and Y direction.

100 105 102 103 106 107 105 The framework structurefurther comprises storage compartments in the form of storage columnsprovided between the members,, where storage containersare stackable in stackswithin the storage columns.

100 100 1 FIG. The framework structurecan be of any size. In particular it is understood that the framework structure can be considerably wider and/or longer and/or deeper than disclosed in. For example, the framework structuremay have a horizontal extent of more than 700×700 columns and a storage depth of more than twelve containers.

1 FIG. is a perspective view of a framework structure of a prior art automated storage and retrieval system.

2 3 4 FIGS.,and are perspective drawings of a prior art container handling vehicles having a centrally arranged cavity for carrying storage containers therein a cantilever solution for carrying storage containers underneath a container handling vehicle wherein the containers are stored on top of the vehicle.

5 FIG.A is a side view of an embodiment of the present invention wherein a container handling vehicle with a central cavity solution has cameras mounted to the sides of the vehicle, and the cameras are pointing downwards.

There is a camera mounted on each side of the container handling vehicle. Each camera is pointing downwards in order to take an image of the tracks framing the column(s) the container handling vehicle is positioned over. This solution gives the closest images of the tracks, so it is possible to establish if there is something in the tracks and optionally what the thing is. If you know what an object on the tracks actually is it is much easier to establish if this is something that requires immediate attention, or if it can be handled later at a slower time of day, when the repairs can be done without the entire storage and retrieval system having to be shut down.

5 FIG.B is a side view of an embodiment of the present invention wherein a container handling vehicle with a central cavity solution has cameras mounted to the sides of the vehicle pointing outwards.

In this solution there is a camera at each side of the container handling vehicle. The camera is pointing at an angle downwards. The angle the camera is pointing could be from 0°-89° down from a horizontal line, meaning straight down to almost horizontal.

In a further solution the camera could be movable so that you could have one camera on each side that covers 180° form straight down to straight up. This solution allows one container handling vehicle to get several images from each side of the container handling vehicle. There are several benefits with this solution. It allows the central computer system or the cloud service or the image analysis and processing system to get more images of each column. This allows the analysis tool to establish what movement of the framework or tracks or grid are due to the weight of the container handling vehicle. So, it is easier to establish how bad a situation actually is, if it is possible to get several images from different angles, from different sides and with or without weight on the tracks right above the column.

6 FIG. is a perspective view of a container handling vehicle with a central cavity solution, where the wheel sets of the container handling vehicle has a pendulum function. The pendulum function allows two sets of wheels to move at an angle. This adds a measuring instrument on the robot's pendulum, and if the robot pendulum reaches a maximum angle, there is a danger that the unevenness of the cell is higher than the robot can take up, with a potential to lead to collisions.

Another way of detecting unevenness of the tracks would be to add at least one electronic level. This will indicate how many degrees the tracks are out of line and if it is something that e.g. the pendulum of the container handling vehicle can take up or if it is something that requires immediate attention and locking down of parts or all of the storage and retrieval system.

7 FIG.A is a side view of an embodiment of the present invention of a container handling vehicle with a cantilever solution with cameras pointing downwards.

There is a camera mounted on each side of the container handling vehicle. Each camera is pointing downwards in order to take an image of the tracks framing the column(s) the container handling vehicle is positioned over. This solution gives the closest images of the tracks, so it is possible to establish if there is something in the tracks and alternatively what the thing is. If you know what an object on the tracks actually is it is much easier to establish if this is something that requires immediate attention, or if it can be handled later at a slower time of day, when the repairs can be done without the entire storage and retrieval system having to be shut down.

7 FIG.B is a side view of an embodiment of the present invention of a container handling vehicle with a cantilever solution with cameras pointing outwards.

In this solution there is a camera at each side of the container handling vehicle. The camera is pointing at an angle downwards. The angle the camera is pointing in could be from 0-89° down from a horizontal line.

In a further solution the camera could be movable so that you could have one camera on each side that covers 180° form straight down to straight up. This solution allows one container handling vehicle to get several images from each side of the container handling vehicle. There are several benefits with this solution. It allows the central computer system or the cloud service or the image analysis and processing system to get more images of each column. This allows the analysis tool to establish what movement of the framework or tracks or grid are due to the weight of the container handling vehicle. So, it is easier to establish how bad a situation actually is, if it is possible to get several images from different angles, from different sides and with or without weight on the tracks right above the column.

8 FIG.A is a side view of an embodiment of the present invention wherein a container handling vehicle with a cantilever solution wherein the lifting platform has cameras pointing in outwards mounted to it.

There is a camera pointing outwards to all sides that allows for the present invention to take images when the lifting platform of the container handling vehicles are lowered into the columns. With this solution it is further possible to take images of the grid feet by lowering the lifting platform all the way down in the column. Further there can be lights on the lifting frame since it can be dark down the columns.

It is also possible to use other types of equipment than cameras to check the condition down the columns. One such example could be a Lidar. This would be a good way of checking the height position of the tracks, and the levels of framework downwards.

8 FIG.B is a side view of an embodiment of the present invention where a container handling vehicle with a cantilever solution has a camera mounted to the lifting platform pointing downwards.

There is one camera that can be moved around covering the entire area under the lifting platform. This allows for the present invention to take images when the lifting platform of the container handling vehicles are lowered into the columns. With this solution it is further possible to take images of the grid feet by lowering the lifting platform all the way down in the column. Further there can be lights on the lifting frame since it can be dark down the columns.

It is also possible to use other types of equipment than cameras to check the condition down the columns. One such example could be a Lidar. This would be a good way of checking the height position of the tracks, and the levels of framework downwards.

8 8 FIGS.A andB Although the drawings inshow a container handling vehicle with a cantilever solution, this technical feature with attaching one or more cameras to the lifting platform of the container handling vehicle, could just as well be applied to the central cavity solution.

9 FIG.A is a side view of an embodiment of the present invention where a container handling vehicle with a top carrying solution has cameras mounted to the sides pointing downwards.

There is a camera mounted on each side of the container handling vehicle. Each camera is pointing downwards in order to take an image of the tracks framing the column(s) the container handling vehicle is positioned over. This solution gives the closest images of the tracks, so it is possible to establish if there is something in the tracks and alternatively what the thing is. If you know what an object on the tracks actually is it is much easier to establish if this is something that requires immediate attention, or if it can be handled later at a slower time of day, when the repairs can be done without the entire storage and retrieval system having to be shut down.

9 FIG.B is a side view of an embodiment of the present invention where a container handling vehicle with a top carrying solution has cameras mounted to the sides pointing outwards.

In this solution there is a camera at each side of the container handling vehicle. The camera is pointing at an angle downwards. The angle the camera is pointing in could be from 0-89° down from a horizontal line.

In a further solution the camera could be movable so that you could have one camera on each side that covers 180° from straight down to straight up. This solution allows one container handling vehicle to get several images from each side of the container handling vehicle. There are several benefits with this solution. It allows the central computer system or the cloud service or the image analysis and processing system to get more images of each column. This allows the analysis tool to establish what movement of the framework or tracks or grid are due to the weight of the container handling vehicle. So, it is easier to establish how bad a situation actually is, if it is possible to get several images from different angles, from different sides and with or without weight on the tracks right above the column.

10 FIG.A 10 FIG.B 10 FIG.A is a side view of an embodiment of the present invention where a container handling vehicle with a central cavity solution having a top mounted camera. This camera can take images in all directions by moving the camera around. So, it is a balance of whether it is worth the extra investment when it comes to the number of cameras or if it is more expensive to shut down the storage and retrieval system for a longer period.is a side view of an embodiment of the present invention where a container handling vehicle with a cantilever solution having a top mounted camera. This is the same technical features as presented in, only with the top mounted camera mounted on a container handling vehicle with a cantilever solution instead of a central cavity solution.

An additional sensor to use in order to detect problems with unevenness in the framework of the storage and retrieval system is a motion sensor. The motion sensor can detect motion in every direction. The motion is an indication that the tracks or the framework of the storage and retrieval system is wrong and the gathered information can be sent to a central computer system or the cloud service or the image analysis and processing system to analyse where in the storage and retrieval system there is a problem. The motion sensor can give information that the images cannot, like if there are a part of the grid that gives way when there are weight on it. If the framework gives way when the container handling vehicle drives over it the motion sensor can give information like how much does it give way and to which direction. With this information stored it is possible to find out where in the framework there might be a problem.

During analysis there is a benefit when you have measurements of neighbouring columns. It allows the analysis program to get information about the extent and location of the problem. Therefore, in a preferred solution of the present invention if there is identified that there is a problem with one of the columns, images and measurements of neighbouring columns can be used together with information from the column in question in order to get an estimate of the extent of the problem. If the problem is a recent development or if it has gradually become worse over time.

Adding a sound detecting device in the container handling vehicles gripper makes it possible to detect if the container handling vehicle hits an obstacle in a cell during lifting and lowering of containers into a cell of the storage system. A sound recorder can separate undesired noise from the background noise of the operation of a container handling vehicle.

4 FIG. Cameras, lidar, sound and all the other types of sensors can be fitted in a container that can be either grabbed by the lifting platform of the container handling vehicle or placed on top of the container handling vehicle according to.

Also, the container handling vehicle can be fitted with an accelerometer in order to detect if the wheels slip on the tracks.

In the preceding description, various aspects of the delivery vehicle and the automated storage and retrieval system according to the invention have been described with reference to the illustrative embodiment. For purposes of explanation, specific numbers, systems and configurations were set forth in order to provide a thorough understanding of the system and its workings. However, this description is not intended to be construed in a limiting sense. Various modifications and variations of the illustrative embodiment, as well as other embodiments of the system, which are apparent to persons skilled in the art to which the disclosed subject matter pertains, are deemed to lie within the scope of the present invention.

1 4 FIGS.- 1 Prior art automated storage and retrieval system 100 Framework structure 102 Upright members of framework structure 103 Horizontal members of framework structure 104 Storage grid 105 Storage column 106 Storage container 106 ′ Particular position of storage container 107 Stack 108 Rail system 110 Parallel rails in first direction (X) 110 a First rail in first direction (X) 110 b Second rail in first direction (X) 111 Parallel rail in second direction (Y) 111 a First rail of second direction (Y) 111 b Second rail of second direction (Y) 112 Access opening 119 First port column 120 Second port column 201 Prior art storage container vehicle 201 201 a Vehicle body of the storage container vehicle 201 b Drive means/wheel arrangement, first direction (X) 201 c Drive means/wheel arrangement, second direction (Y) 301 Prior art cantilever storage container vehicle 301 301 a Vehicle body of the storage container vehicle 301 b Drive means in first direction (X) 301 c Drive means in second direction (Y) 304 Gripping device 500 Control System 600 Monitoring System 701 Camera 702 Pendulum and/or level and/or accelerometer 703 Lidar and/or sound detecting device X First direction Y Second direction Z Third direction Prior art ():